JPH0413108B2 - - Google Patents
Info
- Publication number
- JPH0413108B2 JPH0413108B2 JP57055423A JP5542382A JPH0413108B2 JP H0413108 B2 JPH0413108 B2 JP H0413108B2 JP 57055423 A JP57055423 A JP 57055423A JP 5542382 A JP5542382 A JP 5542382A JP H0413108 B2 JPH0413108 B2 JP H0413108B2
- Authority
- JP
- Japan
- Prior art keywords
- hand
- speed
- robot
- tool
- pairs
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 7
- 239000013598 vector Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
- G05B19/25—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control
- G05B19/251—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/253—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41177—Repetitive control, adaptive, previous error during actual positioning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45083—Manipulators, robot
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP57055423A JPS58177287A (ja) | 1982-04-05 | 1982-04-05 | ロボットの制御方法 |
US06/482,022 US4593366A (en) | 1982-04-05 | 1983-04-04 | Method of controlling robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP57055423A JPS58177287A (ja) | 1982-04-05 | 1982-04-05 | ロボットの制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS58177287A JPS58177287A (ja) | 1983-10-17 |
JPH0413108B2 true JPH0413108B2 (ko) | 1992-03-06 |
Family
ID=12998162
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP57055423A Granted JPS58177287A (ja) | 1982-04-05 | 1982-04-05 | ロボットの制御方法 |
Country Status (2)
Country | Link |
---|---|
US (1) | US4593366A (ko) |
JP (1) | JPS58177287A (ko) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4774445A (en) * | 1986-11-20 | 1988-09-27 | Unimation, Inc. | Multiaxis robot control having capability for executing timed moves |
DE3866006D1 (de) * | 1987-05-04 | 1991-12-12 | Siemens Ag | Verfahren zur positionierung eines werkzeugs eines mehrgelenkigen roboters. |
US5444345A (en) * | 1988-03-17 | 1995-08-22 | Canon Kabushiki Kaisha | Speed control apparatus for a motor |
US5047700A (en) * | 1988-03-23 | 1991-09-10 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Universal computer control system for motors |
WO1991008085A1 (de) * | 1988-11-04 | 1991-06-13 | Kuka Schweissanlagen + Roboter Gmbh | Verfahren und vorrichtung zum justieren einer achse |
JP2643683B2 (ja) * | 1990-10-29 | 1997-08-20 | 三菱電機株式会社 | ロボットの制御方法 |
US5602968A (en) * | 1994-05-02 | 1997-02-11 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Task space angular velocity blending for real-time trajectory generation |
JPH08211815A (ja) * | 1995-02-02 | 1996-08-20 | Canon Inc | 塗布装置及びプロセスカートリッジ及び画像形成装置 |
DE69619115T2 (de) * | 1995-06-13 | 2003-01-02 | Toyo Kohan Co., Ltd. | Verfahren zum zuvorkommen von interferenz für industrierobotor |
US6181983B1 (en) * | 1997-06-20 | 2001-01-30 | Deutsches Zentrum f{umlaut over (u)}r Luft-und Raumfahrt e.v. | Method of command control for a robot manipulator |
US6493608B1 (en) * | 1999-04-07 | 2002-12-10 | Intuitive Surgical, Inc. | Aspects of a control system of a minimally invasive surgical apparatus |
JP3453554B2 (ja) * | 2000-10-13 | 2003-10-06 | ファナック株式会社 | 加減速方法 |
US6757583B2 (en) * | 2002-06-27 | 2004-06-29 | Joe Giamona | Interpolated motion control over a serial network |
KR20120070291A (ko) * | 2010-12-21 | 2012-06-29 | 삼성전자주식회사 | 보행 로봇 및 그의 동시 위치 인식 및 지도 작성 방법 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5027258A (ko) * | 1973-07-06 | 1975-03-20 | ||
JPS5090059A (ko) * | 1973-12-19 | 1975-07-18 | ||
JPS57113112A (en) * | 1980-12-29 | 1982-07-14 | Fujitsu Ltd | Control system for robot |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3876873A (en) * | 1971-06-07 | 1975-04-08 | Haudaille Ind Inc | Machine tool control system and method |
US3864613A (en) * | 1972-12-29 | 1975-02-04 | Hymie Cutler | Path generating system for numerical control apparatus |
US3798427A (en) * | 1973-02-27 | 1974-03-19 | Giddings & Lewis | Automatic deceleration to zero velocity in iteratively computing numerical control systems |
JPS5024686A (ko) * | 1973-07-09 | 1975-03-15 | ||
US4130788A (en) * | 1973-11-01 | 1978-12-19 | General Automation, Inc. | Numerical control servo system |
US4163184A (en) * | 1974-10-04 | 1979-07-31 | The Superior Electric Company | Arcuate movement numerical control method and system |
JPS6040042B2 (ja) * | 1975-07-17 | 1985-09-09 | 日本電気株式会社 | 高速・高精度補間方法 |
US4086522A (en) * | 1976-09-08 | 1978-04-25 | Unimation, Inc. | Computer assisted teaching arrangement for conveyor line operation |
US4079235A (en) * | 1976-12-27 | 1978-03-14 | Mcdonnell Douglas Corporation | Computer numerically controlled threadcutting machine tool |
US4199814A (en) * | 1977-10-12 | 1980-04-22 | Digitcom, Inc. | Computer numerical control machine tool |
JPS55118107A (en) * | 1979-03-05 | 1980-09-10 | Hitachi Ltd | Method and device for control of automatic working device |
US4385358A (en) * | 1979-10-19 | 1983-05-24 | Tokico Ltd. | Robot |
US4342378A (en) * | 1979-12-27 | 1982-08-03 | Otis Elevator Company | Elevator door motion bench velocity |
US4453221A (en) * | 1982-05-13 | 1984-06-05 | Cincinnati Milacron Inc. | Manipulator with adaptive velocity controlled path motion |
-
1982
- 1982-04-05 JP JP57055423A patent/JPS58177287A/ja active Granted
-
1983
- 1983-04-04 US US06/482,022 patent/US4593366A/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5027258A (ko) * | 1973-07-06 | 1975-03-20 | ||
JPS5090059A (ko) * | 1973-12-19 | 1975-07-18 | ||
JPS57113112A (en) * | 1980-12-29 | 1982-07-14 | Fujitsu Ltd | Control system for robot |
Also Published As
Publication number | Publication date |
---|---|
JPS58177287A (ja) | 1983-10-17 |
US4593366A (en) | 1986-06-03 |
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